Sensor calibration device having configurable elements

ABSTRACT

A portable sensor calibration device that provides a reference to a sensor during a calibration procedure. The sensor calibration device may have a number of adjustable functions providing for functional configurability, such as interchangeable target elements, adjustable pitch, adjustable target mounting, and locking elements.

TECHNICAL FIELD

This disclosure relates to the calibration of sensors, and in particularsensors of a vehicle utilized for advanced driver assistance functions

BACKGROUND

In vehicles having an Advance Driver Assistance System, the associatedsensors require calibration to achieve proper operation. Calibration maybe required as part of regular maintenance, or on particular occasionssuch as the repair or replacement of the windshield or other glasscomponents of the vehicle. Certain repairs may be completed on-site,such as at the vehicle owner's home or place of business. Currentcalibration tools are typically bulky and stationary, and require thevehicle to be brought into an automotive service center or similarcontrolled environment for calibration.

It is therefore desirable to have a calibration device that issufficiently mobile such that the calibration procedure may be performedat a desired location outside of an automotive service center. It isadditionally desirable for such a calibration device to be assembled anddisassembled for the purpose of storage or travel.

SUMMARY

One aspect of this disclosure is directed to a sensor calibration devicecomprising a base frame, standing frame, measurement frame, crossbar,target and gliding support. The standing frame may be operable to couplewith the base frame, and may comprise a hinge. The measurement frame maybe operable to couple to the standing frame. The crossbar may beoperable to couple to the measurement frame. The target may be operableto couple to the crossbar. The sensor calibration device may beconsidered functionally-assembled when the standing frame is coupled tothe base frame, the measurement frame is coupled to the standing frame,the crossbar is coupled to the measurement frame, and the target iscoupled to the crossbar. One or more of these couplings may bedetachable. The gliding support may extend between the standing frameand the base frame, and provide the sensor calibration device with theability to adjust the pitch of the target with respect to the base framewhen the sensor calibration device is functionally-assembled.

Another aspect of this disclosure is directed to a sensor calibrationdevice comprising a base frame, standing frame, measurement frame,mounting bolster, crossbar, and target. The standing frame may beoperable to couple with the base frame, and may comprise a hinge. Themeasurement frame may be operable to couple to the standing frame. Themounting bolster may be operable to couple to the measurement frame. Thecrossbar may be operable to couple to the mounting bolster. The targetmay be operable to couple to the crossbar. The sensor calibration devicemay be considered functionally-assembled when the standing frame iscoupled to the base frame, the measurement frame is coupled to thestanding frame, the mounting bolster is coupled to the measurementframe, the crossbar is coupled to the mounting bolster and the target iscoupled to the crossbar. One or more of these couplings may bedetachable.

A further aspect of this disclosure is directed to a sensor calibrationdevice comprising a base frame, standing frame, measurement frame,crossbar, target and handlebar frame. The standing frame may be operableto couple with the base frame, and may comprise a hinge. The measurementframe may be operable to couple to the standing frame. The crossbar maybe operable to couple to the measurement frame. The target may beoperable to couple to the crossbar. The handlebar frame may be operableto couple to the base frame. The sensor calibration device may beconsidered functionally-assembled when the standing frame is coupled tothe base frame, the measurement frame is coupled to the standing frame,the crossbar is coupled to the measurement frame, the target is coupledto the crossbar, and the handlebar frame is coupled to the base frame.One or more of these couplings may be detachable. The handlebar framemay be operable to apply a braking force suitable to restrict motion ofthe sensor calibration device when functionally-assembled.

The above aspects of this disclosure and other aspects will be explainedin greater detail below with reference to the attached drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an illustration of a vehicle sensor and sensor calibrationdevice daring a sensor calibration.

FIG. 2A is an illustration of a sensor calibration device.

FIG. 2B is an illustration of the sensor calibration device of FIG. 2Awith a target element.

FIG. 3 is an illustration of a glide support between a base frame andstanding frame of a sensor calibration device.

FIG. 4A is an illustration of a glide support and base frame of a sensorcalibration device.

FIG. 4B is an exploded view of a glide support of a sensor calibrationdevice.

FIG. 5 is an illustration of a standing frame of a sensor calibrationdevice.

FIG. 6 is an exploded view of a pitch lock associated with a standingframe of a sensor calibration device.

FIG. 7A is an illustration of a measurement frame, mounting bolsters,and a crossbar of a sensor calibration device.

FIG. 7B is an exploded view of a measurement frame, mounting bolsters,and a crossbar of a sensor calibration device.

FIG. 8A is an illustration of a handlebar frame of a sensor calibrationdevice,

FIG. 8B is an illustration of a handlebar frame of a sensor calibrationdevice with a cutout view illustrating some elements thereof.

FIG. 8C is a detailed view of locking components of a handlebar frame ofa sensor calibration device.

DETAILED DESCRIPTION

The illustrated embodiments are disclosed with reference to thedrawings. However, it is to be understood that the disclosed embodimentsare intended to be merely examples that may be embodied in various andalternative forms. The figures are not necessarily to scale and somefeatures may be exaggerated or minimized to show details of particularcomponents. The specific structural and functional details disclosed arenot to be interpreted as limiting, but as a representative basis forteaching one skilled in the art how to practice the disclosed concepts.

FIG. 1 shows a vehicle 100 with a sensor 101 under calibrationconditions. Calibration utilizes a sensor calibration device 103, whichprovides a reflective surface suitable for the calibration. Duringcalibration, sensor 103 generates a signal 105 suitable to reflect offthe sensor calibration device 103. In the depicted embodiment, sensor101 may comprise a radar sensor, but other embodiments may comprise anoptical sensor, a camera, an ultraviolet sensor, a lidar sensor, aninfrared sensor, an ultrasonic sensor, or any other sensor known to oneof ordinary skill in the art without deviating from the teachingsdisclosed herein. In the depicted embodiment, sensor calibration device103 is used to calibrate the sensor 101 of vehicle 100, but otherembodiments may be utilized to calibrate sensors not associated with avehicle.

FIG. 2A and FIG. 2B show a view of a sensor calibration device 103 ingreater detail. FIG. 2A depicts sensor calibration device 103 comprisinga base frame 201, a standing frame 203, a measurement frame 205, acrossbar 207, a handlebar frame 209, a glide support 211, and a numberof mounting bolsters 213. FIG. 2B provides an additional view of sensorcalibration device 103 with the same components as depicted in FIG. 2A,but additionally with a target 215. In the depicted embodiment, sensorcalibration device 103 may be disassembled and reassembled forconvenience in transport or storage, such as loading a disassembleddevice into a service, vehicle. Disassembly and assembly may beaccomplished via detachable coupling of the elements of sensorcalibration device 103.

In the depicted embodiment, standing frame 203 may detachably couple tobase frame 201, measurement frame 205 may detachably couple to standingframe 203, crossbar 207 may detachably couple to measurement frame 205,and target 215 may detachably couple to crossbar 207. In the depictedembodiment, mounting bolsters 213 may detachably couple to measurementframe 205 and handlebar frame 209 may detachably couple to base frame201. In the depicted embodiment, gliding support 211 may extend frombase frame 201 to standing frame 203.

In the depicted embodiment, target 215 may provide a reflective surfacesuitable for calibrating or testing a sensor. The depicted embodiment oftarget 215 comprises a monochromatic design feature concentric conicsections, but other embodiments may comprise other designs withoutdeviating from the teachings disclosed herein. In some embodiments,target 215 may comprise one or more supports operable to couple or latchto one or more other elements sensor calibration device 103. Suchadditional supports may be advantageous for embodiments comprising largeor heavy configurations of target 215. In some embodiments, sensorcalibration device 103 may comprise multiple targets 215 withoutdeviating from the teachings disclosed herein. In such embodiments, someor all of the designs presented by each of targets 215 may be distinctfrom the other designs without deviating from the teachings disclosedherein. In some embodiments, the design of target 215 may beconfigurable, which advantageously may provide suitable function oftarget 215 to be used with a variety of sensor types or specifications.In some embodiments, sensor calibration device 103 may comprise aplurality of interchangeable targets 215, each to be used in differentconfigurations for different sensor types or specifications, withoutdeviating from the teachings disclosed herein.

In the depicted embodiment, when each element is coupled to itsassociated elements as described above, sensor calibration device 103may be considered to be “functionally-assembled.” In some embodiments,sensor calibration device 103 may be considered to befunctionally-assembled provided that the elements are properly coupledto place target 215 in a specified position relative to a sensor withoutdeviating from the teachings disclosed herein. Some embodiments may notutilize handlebar frame 209 without deviating from the teachingsdisclosed herein. Some embodiments may not utilize one or more ofmounting bolsters 213 without deviating from the teachings disclosedherein. Some embodiments may not utilize gliding support 211 withoutdeviating from the teachings disclosed herein. Additional aspects of theelements are discussed below in further detail.

FIG. 3 provides a detailed view of base frame 201. Base frame 201 iscomprised of primary base members 301 and secondary base members 303.The depicted embodiment comprises a pair of primary base members 301 anda pair of secondary base members 303, but other embodiments may compriseother configurations having a different number of either primary basemembers 301 or secondary base members 303 without deviating from theteachings disclosed herein. Some embodiments may comprise only a singleone of primary base member 301 or secondary base member 303 withoutdeviating from the teachings disclosed herein. In the depictedembodiment, secondary base members 303 are affixed to primary basemembers 301 at a transverse angle within a specified tolerance, forminga frame comprised of right angles within the specified tolerance. Otherembodiments may comprise other configurations without deviating from theteachings disclosed herein.

In the depicted embodiment, base frame 201 comprises a number of wheels305 coupled to primary base members 301. Wheels 305 may advantageouslyenhance the mobility of the sensor calibration device, and by proxyenhance the accuracy of placement of the sensor calibration device withrespect to the sensor subject to calibration. In the depictedembodiment, the sensor calibration device comprises four wheels 305, butother embodiments may comprise a different number, or a differentconfiguration without deviating from the teachings disclosed herein.Some embodiments may not comprise wheels without deviating from theteachings disclosed herein.

Primary base members 301 are additionally outfitted with a number offirst brackets 307 operable to couple base frame 201 and standing frame203. First brackets 307 are suitable to provide a detachable couplingbetween base frame 201 and standing frame 203, and thus first brackets307 may also be referred to as “standing brackets” 307. When coupled viastanding brackets 307, standing frame 203 forms a transverse anglewithin a specified tolerance with both primary base members 301 andsecondary base members 303. The angle of standing frame 203 when coupledto base frame 201 may be adjusted using mechanisms of glide support 211(described later in further detail).

Base frame 201 may additionally comprise a number of second brackets 309operable to couple handlebar frame 209 to base frame 201. Secondbrackets 309 are suitable to provide a detachable coupling between baseframe 201 and handlebar frame 209, and thus second brackets 309 may alsobe referred to as “handlebar brackets” 309. When coupled via handlebarbrackets 309, handlebar frame 209 forms a transverse angle within aspecified tolerance with both primary base members 301 and secondarybase members 303. In the depicted embodiment, handlebar brackets 309comprise sleeve brackets operable to receive member-components ofhandlebar bracket 309, but other embodiments may comprise otherconfigurations without deviating from the teachings disclosed herein. Inthe depicted embodiment, each of handlebar brackets 309 may comprise ahandlebar frame lock operable to retain, handlebar bracket 209 in thecoupled configuration with base frame 201. In, the depicted embodiment,handlebar frame locks 311 may comprise a screw-lock configuration, butother embodiments may comprise different configurations withoutdeviating from the teachings disclosed herein, Some embodiments maycomprise a different number or arrangement of handlebar frame locks 311without deviating from the teachings disclosed herein. Some embodimentsmay not comprise a handlebar frame lock without deviating from theteachings disclosed herein.

Disassembly of the sensor calibration device may be supported byfeatures designed to enhance portability and storability of the device.In the depicted embodiment, base frame 201 further comprises a glidesupport cradle 313 operable to provide support for glide support 211when the sensor calibration device is disassembled. Glide support cradle313 can advantageously enhance portability of the sensor calibrationdevice by retaining glide support 211 in a compact arrangement, therebypermitting a user to more easily store or transport base frame 201. Inthe depicted embodiment, glide support cradle comprises a glide supportlock 315 operable to retain one end of glide support 211 in a coupledarrangement with glide support cradle 313. Some embodiments may comprisedifferent configurations of glide support cradle 313 without deviatingfrom the teachings disclosed herein. Some embodiments may not comprise aglide support cradle without deviating from the teachings disclosedherein.

FIG. 4A provides an alternative view of base support 201 and glidesupport 211. In the depicted embodiment, glide support 211 comprises asleeve member 401 and an internal member 403. The longitudinal length ofglide support 211 may be adjusted by changing the relative arrangementof internal member 403 with respect to sleeve member 401. In thedepicted embodiment, internal member 403 may slide in and out of sleevemember 401 along the longitudinal dimension of sleeve member 401. Thissliding adjustment may be utilized to adjust the longitudinal length ofglide support 211. Adjustment of the longitudinal length of glidesupport 211 may advantageously provide a user control of the pitch ofstanding frame 203 relative to base frame 201. This may advantageouslyprovide user control of the pitch of measurement frame 205 andsubsequently target 215 with respect to base frame 201, such as during acalibration.

The longitudinal length of glide support 211 may be fixed using a sleevelock 405. Sleeve lock 405 may be operable to fix the relativearrangement of internal member 403 with respect to sleeve member 401,and thus fix the longitudinal length of glide support 211. In thedepicted embodiment, sleeve lock 405 comprises a screw lockconfiguration, but other embodiments may comprise other configurationswithout deviating from the teachings disclosed herein.

Glide support 211 may be configured to extend between base frame 201 andstanding frame 203 (1101 shown, see FIG. 3). Because glide support 211is configured to have an adjustable longitudinal length, the angle ofthe extended glide support 211 may be adjustable to accommodate thedifferences in length. Glide support 211 comprises a hinge at each end,each hinge operable to enhance extension between base frame 201 andstanding frame 203, In the depicted embodiment, the hinges may comprisea base-side hinge 407 and a standing-side hinge 409. Other embodimentsmay comprise other configurations without deviating from the teachingsdisclosed herein.

In the depicted embodiment, base-side hinge is affixed to one of thesecondary base members 303. Glide support 211 may be detachably coupledto standing frame 203, via a standing-side latch 411. Standing-sidelatch 411 may be operable to detachably couple the standing-side hinge409 to standing frame 203.

FIG. 4B illustrates an exploded view of glide support 211, providingadditional close-up details of the coupling mechanism between glidesupport 211 and standing frame 203. In particular, FIG. 4B providesadditional details showing how standing-side latch 411 couples tostanding frame 203. Standing-side latch 411 is configured to latchitself to a slider mount 413, which may be affixed to standing frame 203(not pictured, see FIG. 3). In some embodiments, slider mount 413 may beadjustably affixed to standing frame 203, and operable to be adjustablypositioned at various points along the longitudinal length of standingframe 203. In the depicted embodiment, the coupling of standing-sidelatch 411 to slider mount 413 is achieved using a number of latch pins415, but other embodiments may comprise other configurations withoutdeviating from the teachings disclosed herein. In the depictedembodiment, glide support 211 may utilize a lock pin 417 to retain glidesupport 211 in a particular arrangement with respect to standing frame203, but other embodiments may comprise other configurations withoutdeviating from the teachings disclosed herein. In the depictedembodiment, lock pin 417 comprises a screw lock configuration, but otherembodiments may comprise other configurations without deviating from theteachings disclosed herein.

FIG. 5 depicts a view of standing frame 203 in context while coupled tobase frame 203 and gliding support 211. Standing frame 203 is comprisedof primary standing members 501 and secondary standing members 503. Thedepicted embodiment comprises a pair of primary standing members 501 anda pair of secondary standing members 503, but other embodiments maycomprise other configurations having a different number of eitherprimary standing members 501 or secondary standing members 503 withoutdeviating from the teachings disclosed herein. Some embodiments maycomprise only a single one of primary standing member 501 or secondarystanding member 503 without deviating from the teachings disclosedherein. In the depicted embodiment, secondary standing members 503 areaffixed to primary standing members 501 at a transverse angle within aspecified tolerance, forming a frame comprised of right angles withinthe specified tolerance. Other embodiments may comprise otherconfigurations without deviating from the teachings disclosed herein.

Standing frame 203 additionally comprises a measurement mount 505,operable to detachably couple standing frame 203 and measurement frame205 (rot pictured, see FIG. 2A). In the depicted embodiment measurementmount 505 comprises a number of mounting slots operable to engage withmeasurement frame 205, but other embodiments may comprise otherconfigurations without deviating from the teachings disclosed herein. Inthe depicted embodiment, measurement mount 505 is affixed to one ofprimary standing members 501 in a transverse direction to the primarystanding member 501 within a specified tolerance, but other embodimentsmay comprise other configurations or arrangements without deviating fromthe teachings disclosed herein. In some embodiments, measurement mount505 may be replaced by a secondary standing member 503 having particularmounting features without deviating from the teachings disclosed herein.

Standing frame 203 additionally comprises a number of hinges 507, eachof hinges operable to engage with standing brackets 307 (see FIG. 3,FIG. 4A) to couple standing frame 203 to base frame 201. Hinges 507 areadditionally operable to adjust the relative pitch of standing frame 203with respect to base frame 201. When the sensor calibration device isfunctionally-assembled, this pitch adjustment effectively adjusts thepitch of target 215 (see FIG. 2B). Because stabilization of this pitchangle is desirable for a reliable calibration measurement, the pitch ofstanding frame 203 may be stabilized by glide support 211 and a pitchlock 509. Pitch lock 509 may be operable to provide a firststabilization of the pitch of standing frame 203, and gliding support211 may be utilized to provide an additional stabilization of the pitch.In some embodiments, hinges 507 may be operable to provide standingframe 203 with extended pitch motion, such as up to 180 degrees ofmotion with respect to base frame 201 without deviating from theteachings disclosed herein. Such ranges of motion may advantageouslyenhance the utility of sensor calibration device on uneven or inclinedsurfaces during calibration.

FIG. 6 presents a close-up and exploded view of pitch lock 509 incontext with respect to standing frame 203 (see FIG. 5B). Pitch lock 509is comprised of a locking member 601, joining member 603, and lock mount605. Lock mount 605 may be embodied as a slider within a primarystanding member 501, operable to provide a mounting position for pitchlock 509. Joining member 603 may provide a friction force to hold pitchlock 509 in place. When joining member 603 is not engaged, pitch lock509 may be operable to be adjustably positioned along an axis 607 ofprimary standing member 501. Locking member 601 further compriseslocking tines 609 operable to engage secondary standing member 503, andrestrict the motion of hinge 507. Locking Member 601 may be moved awayfrom the secondary standing member 503 along axis 607 to disengage thelocking tines 609. Locking member 601 and joining member 603 may becoupled to each other using a number of joining pins 611. Locking member601 and joining member 603 may be coupled to lock mount 605 using alocking pin 613. Locking pin 613 may be configured to permit removal byhand in order to advantageously permit convenient adjustment of pitchlock 509 between engaged and disengaged states.

FIG. 7A is an illustration of measurement frame 205 when coupled withmount bolsters 213 and crossbar 207. Measurement frame 205 is comprisedof primary measurement members 701 and secondary measurement members703. The depicted embodiment comprises a trio of primary measurementmembers 701 and a trio of secondary measurement members 703, but otherembodiments may comprise other configurations having a different numberof either primary measurement members 701 or secondary measurementmembers 703 without deviating from the teachings disclosed herein. Someembodiments may comprise only a single one of primary measurement member701 or secondary measurement member 703 without deviating from theteachings disclosed herein. In the depicted embodiment, secondarymeasurement members 703 are affixed to primary measurement members 701at a transverse angle within a specified tolerance, forming a framecomprised of right angles within the specified tolerance. Otherembodiments may comprise other configurations without deviating from theteachings disclosed herein.

In the depicted embodiment, measurement frame 205 further comprises analignment sensor 705 operable to make measurements of the position orrelative angle of the sensor calibration device whenfunctionally-assembled. In the depicted embodiment, alignment sensor 705may comprise a camera, but other embodiments may comprise an optical,sensor, radar sensor, lidar sensor, laser meter, ultrasonic sensor, orany other sensor known to one of ordinary skill in the art withoutdeviating from the teachings disclosed herein. In the depictedembodiment, alignment sensor 705 may be operable to interface with acomputing device to provide a visual indication to a user of whether thesensor calibration device may be properly positioned.

By way of example, and not limitation, the computing device may beoperable to display the data obtained by alignment sensor 705 as animage overlaid with a silhouette of the vehicle under calibration. Theuser may adjust the position and relative angle of thefunctionally-assembled sensor calibration device with respect to thevehicle (such as vehicle 100, see FIG. 1) until the image of the vehicleand the silhouette overlap to within a specified tolerance. Otherembodiments may comprise other examples of how alignment sensor 705 maybe used to make measurements relevant to position the sensor calibrationdevice during calibration.

In the depicted embodiment, alignment sensor 705 may interface with acomputing device via a wired connection, such as a universal serial bus(USB) connection. Such wired connections may advantageously providepower to the alignment sensor 705 from the computing device duringconnected interface. The connection between alignment sensor 705 and acomputing device may comprise a TCP/IP connection, a local area network(LAN) connection, a plain-old-telephone-service (POTS) connection, anInternet protocol connection, an electrical wiring, a conductivechannel, an electrical bus, a fiber optic pathway, or any otheralternative embodiment known to one of ordinary skill in the art withoutdeviating from the teachings disclosed herein. In some embodiments,alignment sensor 705 may instead connect to computing devices using awireless connection. Alignment sensor 705 may be configured tocommunicate wirelessly via one or more of an RF (radio frequency)specification, cellular phone channels (analog or digital), cellulardata channels, a Bluetooth specification, a Wi-Fi specification, asatellite transceiver specification, infrared transmission, a Zigbeespecification, Local Area Network (LAN), Wireless Local Area Network(WLAN), or any other alternative configuration, protocol, or standardknown to one of ordinary skill in the art without deviating from theteachings disclosed herein.

Crossbar 207 comprises a number of target mounts 707, operable to coupleto a target 215 (not shown, see FIG. 2B). In the depicted embodiment,target mounts 707 may be operable to engage magnetic pins of a target,but other embodiments may comprise other mounting configurations withoutdeviating from the teachings disclosed herein. In the depictedembodiment, target mounts 707 may be adjustably positioned along thelength of crossbar 207, which may advantageously increase compatibilityof the sensor calibration device with a wider variety of targetconfigurations. Some embodiments may have a different number of targetmounts 707 without deviating from the teachings disclosed herein.

Mounting brackets 213 may be operable to provide additional support tocrossbar 207 in coupling with measurement frame 205 and supportingtarget 215 (not shown). In the depicted embodiment, mounting brackets213 may comprise a magnetic surface suitable for a magnetic couplingwith crossbar 207, but other embodiments may comprise otherconfigurations without deviating from the teachings disclosed herein.

FIG. 7B provides an alternate view of measurement frame 205, mountingbolsters 213, and crossbar 207. FIG. 7B in particular provides anexploded view showing particular elements utilized for coupling of thecomponents. In particular, mounting bolsters 213 may comprise a numberof mounting latches 709 and mount pins 711. Mounting latches 709 may beoperable to engage the coupling between a mounting bolster 213 andmeasurement frame 205. The coupling of a mounting bolster 709 may beadjustable with respect to primary measurement member 701,advantageously enabling a greater variety of arrangements suitable for afunctionally-assembled sensor calibration device. The depictedembodiment utilizes two mounting bolsters 213, but other embodiments maycomprise other configurations without deviating from the teachingsdisclosed herein. In the depicted embodiments, the relative arrangementof mounting bolsters 213 may be symmetrical with respect to measurementframe 205, or may be asymmetrical or otherwise irregular withoutdeviating from the teachings disclosed herein. This configurability ofthe arrangement of mounting bolsters 213 may advantageously permit agreater variety of configurations of the sensor calibration device thatis functionally-assembled to comply with a specified configuration incompliance with a variety of sensors.

Mount pins 711 may be operable to provide support to the coupling ofmounting bolsters 213 and measurement frame 205. Mount pins 711 mayprovide additional force to stabilize the coupling of a mounting bolster213 to measurement frame 205, which may advantageously enable the sensorcalibration device to accommodate larger and heavier targets in afunctionally-assembled arrangement. In the depicted embodiment, mountpins 711 comprise a plurality of pins having a screw configuration, butother embodiments may comprise other configurations without deviatingfrom the teachings disclosed herein. In some embodiments, a differentnumber of mount pins 711 may be present without deviating from theteachings disclosed herein. In some embodiments, different ones of mountpins 711 may have distinct configurations without deviating from theteachings disclosed herein. Some embodiments may not comprise mount pins711 without deviating from the teachings disclosed herein.

Mounting bolsters 213 may further comprise a number of support pins 713.Each of support pins 713 may be operable to provide additional mountingsupport to a target, such as target 215 (not shown; see FIG. 2). Thisadditional support may advantageously enable the sensor calibrationdevice to accommodate larger and heavier targets in afunctionally-assembled arrangement. In particular, the additionalsupport providing by a support pin 713 reduces the total weight assumedby target mounts 707, and by crossbar 207. Embodiments of mountingbolsters 213 having mount pins 711 and support pins 713 mayalternatively be referred to as “hirschgeweih.”

Also depicted in FIG. 7B are crossbar mounts 715, operable to couplecrossbar 207 to measurement frame 205. In the depicted embodiment,crossbar mounts 715 may be operable to mount crossbar 207 to measurementframe 205 directly, or to one or more surfaces of mounting bolsters 213when mounting bolsters 213 are coupled to measurement frame 205. In thedepicted embodiment, crossbar mounts 715 may be operable to enable anadjustable coupling of crossbar 207. In the depicted embodiment,crossbar mounts 715 may comprise a magnetic coupling mechanism, butother embodiments may comprise other configurations without deviatingfrom the teachings disclosed herein.

FIG. 8A is an illustration of handlebar frame 209 in greater detail.Handlebar frame 209 is comprised of primary handlebar members 801 andsecondary handlebar members 803. The depicted embodiment comprises apair of primary handlebar members 801 and a pair of secondary handlebarmembers 803, but other embodiments may comprise other configurationshaving a different number of either primary handlebar members 801 orsecondary handlebar members 803 without deviating from the teachingsdisclosed herein. Some embodiments may comprise only a single one ofprimary handlebar member 801 or secondary handlebar member 803 withoutdeviating from the teachings disclosed herein. In the depictedembodiment, secondary handlebar members 803 are affixed to primaryhandlebar members 801 at a transverse angle within a specifiedtolerance, forming a frame comprised of right angles within thespecified tolerance. Other embodiments may comprise other configurationswithout deviating from the teachings disclosed herein.

In the depicted embodiment, primary handlebar members 801 are configuredto engage a handlebar bracket 309 of the sensor calibration device whenfunctionally-assembled (see FIG. 3). In the depicted embodiment, primaryhandlebar members 801 are compatible with handlebar frame locks 311 (seeFIG. 3). Other embodiments may comprise different configurations withoutdeviating from the teachings disclosed herein. In some embodiments, thefunctionally-assembled sensor calibration device may not comprise one ormore of the handlebar brackets 309 or handlebar frame locks 311 withoutdeviating from the teachings disclosed herein.

In the depicted embodiment secondary handlebar members 803 may comprisetwo different configurations, with secondary handlebar member 803 ahaving a cylindrical shape and secondary handlebar member 803 b havingshape comprising a rectangular cross section. Other embodiments maycomprise other configurations having additional or other cross sectionswithout deviating from the teachings disclosed herein. The cylindricalshape of secondary handlebar member 803 a may advantageously provide anergonomic gripping surface for a user to position the sensor calibrationdevice when functionally-assembled. In some embodiments, some or all ofsecondary handlebar members 803 may comprise distinct shapes withoutdeviating frons the teachings disclosed herein.

In the depicted embodiment, secondary handlebar member 803 a is coupledwith a tablet mount 805, operable to effectively couple a tabletcomputing device (not shown), to handlebar frame 209. This coupling mayadvantageously provide a user access to the functions of a tabletcomputing device during utilization of the sensor calibration device inan ergonomic fashion while enabling the user to keep their hands freefor other tasks. The tablet computing device may be operable to performfunctions pertaining to the setup and utilization of the sensorcalibration device when functionally-assembled. By way of example, andnot limitation, the table computing device may be configured to digitalcommunication with other elements of the sensor calibration device, suchas alignment sensor 705 (see FIG. 7). Though the depicted embodimentcomprises a tablet mount 805 specifically configured to interact with atablet computing device, other embodiments may comprise other mountssuitable for other processing devices without deviating from theteachings disclosed herein. In such embodiments, the associatedcomputing device may comprise a mobile processing device, a smartphone,a laptop computer, a personal digital assistant (PDA) device, a handheldprocessor device, a specialized processor device, a portable terminal incommunication with a system of processors distributed across a network,or any other alternative embodiment known to one of ordinary skill inthe art. Some embodiments may not comprise a tablet mount 805 withoutdeviating from the teachings disclosed herein.

Handlebar frame 209 further comprises a number of foot locks 807,operable to restrict motion of the sensor calibration device whenfunctionally-assembled. In the depicted embodiment, handlebar frame 209comprises a pair of foot locks 807, but other embodiments may comprise adifferent number without deviating from the teachings disclosed herein.Some embodiments of the sensor calibration device may not have footlocks without deviating from the teachings disclosed herein.

Foot locks 807 may be operable to apply a friction force to a supportingsurface of the sensor calibration device (e.g., the ground, or a floor).When the sensor calibration device is functionally-assembled, thefriction force applied by foot locks 807 may be sufficient to restrictnormal free motion of the sensor calibration device, such as the rollingof wheels 305 (see FIG. 3).

In the depicted embodiment, foot locks 807 may be selectively engagedwith the supporting surface, permitting the user to selectively restrictmotion of the sensor calibration device when functionally assembled. Theselective restriction of motion may be controlled by a user via numberof lock handles 809. Each of lock handles 809 may comprise a number ofpositions corresponding to a level of motion restriction behavior of anassociated foot lock 807. In the depicted embodiment, lock handles 809may be independently controlled to selectively adjust an associated footlock 807, but other embodiments may comprise a configuration havingcombined lock handle behaviors. In the depicted embodiment, handlebarframe 209 comprises a pair of lock handles 809, but other embodimentsmay comprise a different number of lock handles without deviating fromthe teachings disclosed herein.

FIG. 8B depicts handlebar frame 209 with a cutaway view of the interiorsof primary handlebar members 801, showing additional details of thefunctional components of foot locks 807. Foot lock 807 is connected tolock handle 809 via a lock column 811 disposed within primary handlebarmember 801, such that motion of the lock handle 809 will correlate withmotion of the foot lock 807. In the depicted embodiment, lock column 811is disposed within primary handlebar member 801, but other embodimentsmay be partially-disposed or otherwise-disposed with respect tohandlebar frame 299 without deviating from the teachings disclosedherein.

To provide friction force with the supporting surface, foot lock 807 issubjected to a force from a spring 813. The force exerted by spring 813may be controlled by adjusting the position of lock handle 809 such thatthe extension of lock column 811 within primary handlebar member 801 isaffected. Spring 813 may be configured to provide a force sufficient torestrict motion of the sensor calibration device whenfunctionally-assembled. Such force may be specified in response tofactors such as the expected coefficient of friction of specifiedsupporting surfaces, the maximum weight of the sensor calibration devicewhen functionally-assembled, and other expected forces that maycontribute to motion of the sensor calibration device (e.g., wind orgravitational forces, or expected forces from a user pushing or pullingon the sensor calibration device). In some embodiments, spring 813 mayhave adjustable configurations affecting to specified forces, whichadvantageously may enable foot lock 807 to have optimized utility in avariety of configurations of the sensor calibration device (e.g., withdifferent configurations of a target).

FIG. 8C provides a more detailed view of the internal components ofprimary handlebar member 801 (see FIG. 8A). The selective control offoot lock 807 may be achieved based upon a position of the lock handle809 with respect to a lock handle plate 815. In the depicted embodiment,lock handle plate 815 comprises a channel operable to guide theselective position of lock handle 809. In the depicted embodiment, lockhandle plate 815 may comprise a first position 817 and a second position819. When lock handle 809 is moved to the first position 817, lockcolumn 811 is in an extended position, allowing spring 813 to provideforce to foot lock 807, engaging foot lock 807 with the supportingsurface. When lock handle 809 is moved to the second position 819, lockcolumn 811 is in a contracted position, forcing spring 813 to compress,and disengaging foot lock 807 from the supporting surface. In thedepicted embodiment, lock handle plate 815 is affixed to a primaryhandlebar member 801, but other embodiments may comprise otherconfigurations without deviating from the teachings disclosed herein. Inthe depicted embodiment, lock handle plate 815 comprises two positions,but other embodiments may comprise a different number of positionswithout deviating from the teachings disclosed herein.

While exemplary embodiments are described above, it is not intended thatthese embodiments describe all possible forms of the disclosed apparatusand method. Rather, the words used in the specification are words ofdescription rather than limitation, and it is understood that variouschanges may be made without departing from the spirit and scope of thedisclosure as claimed. The features of various implementing embodimentsmay be combined to form further embodiments of the disclosed concepts.

What is claimed is:
 1. A sensor calibration device comprising: a baseframe comprising a primary base member and a secondary base membertransversely affixed to, the primary base member within a specifiedtolerance, the base frame further comprising a first bracket and asecond bracket; a standing frame operable to couple with the base frameby engaging the first bracket, the standing frame comprising a hinge, aprimary standing member, and a secondary standing member transverselyaffixed to the primary standing member within a specified tolerance; ameasurement frame comprising a primary measurement member and asecondary measurement member transversely affixed to the primarystanding member within a specified tolerance, the measurement frameoperable to couple to the standing frame such that the primarymeasurement member is substantially parallel to the primary standingmember within a specified tolerance; a crossbar configured to detachablycouple to the measurement frame, the crossbar transverse to the primarymeasurement member within a specified tolerance when coupled; a targetconfigured to detachably couple to the crossbar, the target having aspecified configuration suitable for a sensor calibration; and ahandlebar frame operable to detachably couple to the base frame byengaging the second bracket, the handlebar frame comprising a primaryhandlebar member, and a secondary handlebar member transversely affixedto the primary handlebar member within a specified tolerance.
 2. Thesensor calibration device of claim 1, wherein the handlebar framefurther comprises a tablet mount configured to support a tabletcomputing device.
 3. The sensor calibration device of claim 1, whereinthe base frame further comprises a number of wheels.
 4. The sensorcalibration device of claim 1, Wherein the base frame further comprisesa handlebar frame lock operable to fix the handlebar frame to the baseframe.
 5. The sensor calibration device of claim 4, wherein the secondbracket comprises the handlebar frame lock.
 6. The sensor calibrationdevice of claim 1, wherein the handlebar frame further comprises a footoperable to restrict motion of the sensor calibration device when thesensor calibration device is functionally-assembled.
 7. The sensorcalibration device of claim 6, wherein the foot is configured toselectively restrict motion of the sensor calibration device when thesensor calibration device is functionally-assembled.
 8. The sensorcalibration device of claim 7, wherein the handlebar frame furthercomprises a lock handle operable to control the foot to selectivelyrestrict motion of the sensor calibration device.
 9. The sensorcalibration device of claim 8, wherein a column-and-spring assemblyconnects the lock handle and the foot, the column-and-spring assembly isat least partially housed inside the primary handlebar member.
 10. Thesensor calibration device of claim 9, wherein the column-and-springassembly provides a braking force to the foot that is calibrated to aspecified force value corresponding to the weight of the sensorcalibration device when functionally-assembled.